Related papers: RAPTOR: Robust and Perception-aware Trajectory Rep…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control…
Quadrotor drones equipped with high quality cameras have rapidely raised as novel, cheap and stable devices for filmmakers. While professional drone pilots can create aesthetically pleasing videos in short time, the smooth -- and…
Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking task. Existing visibility-aware planners primarily focus on…
This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…
In recent years, there is a noteworthy advancement in autonomous drone racing. However, the primary focus is on attaining execution times, while scant attention is given to the challenges of dynamic environments. The high-speed nature of…
Among ship maneuvers, berthing/unberthing maneuvers are one of the most challenging and stressful phases for captains. Concerning burden reduction on ship operators and preventing accidents, several researches have been conducted on…
Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…
The hierarchy of global and local planners is one of the most commonly utilized system designs in autonomous robot navigation. While the global planner generates a reference path from the current to goal locations based on the pre-built…
We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
This paper introduces FALCON, a novel Fast Autonomous expLoration framework using COverage path guidaNce, which aims at setting a new performance benchmark in the field of autonomous aerial exploration. Despite recent advancements in the…
We present AMCO, a novel navigation method for quadruped robots that adaptively combines vision-based and proprioception-based perception capabilities. Our approach uses three cost maps: general knowledge map; traversability history map;…
This paper considers a trajectory planning problem for a robot navigating complex terrains, which arises in applications ranging from autonomous mining vehicles to planetary rovers. The problem seeks to find a low-cost dynamically feasible…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, offering global optimality through its convex formulation. The safe corridor is constructed based on the…
We present a novel outdoor navigation algorithm to generate stable and efficient actions to navigate a robot to reach a goal. We use a multi-stage training pipeline and show that our approach produces policies that result in stable and…
In autonomous navigation, trajectory replanning, refinement, and control command generation are essential for effective motion planning. This paper presents a resilient approach to trajectory replanning addressing scenarios where the…
Rapid advances in perception have enabled large pre-trained models to be used out of the box for transforming high-dimensional, noisy, and partial observations of the world into rich occupancy representations. However, the reliability of…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…